Point cloud tree monomer segmentation method and device, electronic equipment and storage medium

Abstract

The invention provides a point cloud tree monomer segmentation method and device, electronic equipment and a storage medium. The method comprises the following steps: dividing original tree point cloud data into a first point set and a second point set according to a preset height, wherein the z coordinate value of a point in the first point set is greater than the preset height, and the z coordinate value of a point in the second point set is smaller than the preset height; processing the second point set by adopting a preset clustering algorithm to obtain n clustering point sets; and comparing the first points in each clustering point set with the points in the first point set, and dividing the points in the first point set according to a comparison result to obtain n target segmentation results. Through the above steps, the points on the tree trunk can be firstly aggregated and classified, and then the point cloud data of the tree canopy is segmented according to the clustering set of the points on the tree trunk, so that the growth characteristics of the tree can be fully adapted, the classification of the points is accurate enough, and the result of point cloud tree monomer segmentation is more accurate.

Description

technical field [0001] The present application relates to the technical field of point cloud data processing, in particular, to a point cloud tree single segmentation method, device, electronic equipment and storage medium. Background technique [0002] Point cloud data refers to a set of vectors in a three-dimensional coordinate system. These vectors are usually expressed in the form of X, Y, and Z three-dimensional coordinates, and are generally used to represent the outer surface shape of an object. In addition to representing the position information of the point on the object, the point cloud data can also represent the RGB color, gray value, depth and segmentation results of the point. LiDAR point cloud data is obtained by scanning and acquiring Light Detection And Ranging (LiDAR), that is, LiDAR. Lidar point cloud data can be used to establish a three-dimensional tree model, and generally the point cloud data of trees obtained through lidar is the point cloud data of...

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Problems solved by technology

[0005] In view of this, the purpose of this application is to provide a point cloud tree monomer segmentation method, device, electronic equipment and storage medium for the above-mentioned deficiencies in the prior art, so as to solve the problems existing in the prior art based on point In the process of tree individual segmentation using cloud data, point classification is not accurate enough, and noise points are difficult to exclude, which leads to the problem that the final segmentation result is not accurate enough

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